Vision-IMU based collaborative control of a blind UAV

R. Hoogervorst, Stefano Stramigioli, Han Willem Wopereis, Matteo Fumagalli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)

    Abstract

    Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.
    Original languageUndefined
    Title of host publicationThird Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages53-61
    Number of pages9
    ISBN (Print)978-1-5090-1784-3
    DOIs
    Publication statusPublished - 23 Nov 2015

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Keywords

    • EC Grant Agreement nr.: FP7/644128
    • IR-103452
    • METIS-321704
    • EWI-27696

    Cite this

    Hoogervorst, R., Stramigioli, S., Wopereis, H. W., & Fumagalli, M. (2015). Vision-IMU based collaborative control of a blind UAV. In Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 (pp. 53-61). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/RED-UAS.2015.7440990
    Hoogervorst, R. ; Stramigioli, Stefano ; Wopereis, Han Willem ; Fumagalli, Matteo. / Vision-IMU based collaborative control of a blind UAV. Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2015. pp. 53-61
    @inproceedings{4e86afc34069406985f592db30b804de,
    title = "Vision-IMU based collaborative control of a blind UAV",
    abstract = "Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.",
    keywords = "EC Grant Agreement nr.: FP7/644128, IR-103452, METIS-321704, EWI-27696",
    author = "R. Hoogervorst and Stefano Stramigioli and Wopereis, {Han Willem} and Matteo Fumagalli",
    note = "10.1109/RED-UAS.2015.7440990",
    year = "2015",
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    language = "Undefined",
    isbn = "978-1-5090-1784-3",
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    Hoogervorst, R, Stramigioli, S, Wopereis, HW & Fumagalli, M 2015, Vision-IMU based collaborative control of a blind UAV. in Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 53-61. https://doi.org/10.1109/RED-UAS.2015.7440990

    Vision-IMU based collaborative control of a blind UAV. / Hoogervorst, R.; Stramigioli, Stefano; Wopereis, Han Willem; Fumagalli, Matteo.

    Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2015. p. 53-61.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    AU - Wopereis, Han Willem

    AU - Fumagalli, Matteo

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    PY - 2015/11/23

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    N2 - Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.

    AB - Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.

    KW - EC Grant Agreement nr.: FP7/644128

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    Hoogervorst R, Stramigioli S, Wopereis HW, Fumagalli M. Vision-IMU based collaborative control of a blind UAV. In Third Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2015. p. 53-61 https://doi.org/10.1109/RED-UAS.2015.7440990